---
license: mit
task_categories:
- robotics
---

# Dataset for Universal Visual Decomposer (UVD)


## Dataset Description

*Homepage:* https://zcczhang.github.io/UVD/

*Codebase:* https://github.com/zcczhang/UVD

*Paper:* https://arxiv.org/abs/2310.08581

## Dataset Summary

This is the dataset used for the paper [Universal Visual Decomposer: Long-Horizon Manipulation Made Easy](https://arxiv.org/abs/2310.08581). We release the simulation data in FrankaKitchen and data for real-world experiments.


If you find our work useful, please consider citing us! 

```bibtex
@misc{zhang2023universal,
  title  = {Universal Visual Decomposer: Long-Horizon Manipulation Made Easy}, 
  author = {Zichen Zhang and Yunshuang Li and Osbert Bastani and Abhishek Gupta and Dinesh Jayaraman and Yecheng Jason Ma and Luca Weihs},
  title  = {Universal Visual Decomposer: Long-Horizon Manipulation Made Easy},
  year   = {2023},
  eprint = {arXiv:2310.08581},
}
```